Research on the feature set construction method for spherical stereo vision

Junchao Zhu; Li Wan; Juha Röning; Weijia Feng

doi:10.1117/12.2083386

8 February 2015 Research on the feature set construction method for spherical stereo vision

Junchao Zhu, Li Wan, Juha Röning, Weijia Feng

Proceedings Volume 9406, Intelligent Robots and Computer Vision XXXII: Algorithms and Techniques; 94060G (2015) https://doi.org/10.1117/12.2083386
Event: SPIE/IS&T Electronic Imaging, 2015, San Francisco, California, United States

Abstract

Spherical stereo vision is a kind of stereo vision system built by fish-eye lenses, which discussing the stereo algorithms conform to the spherical model. Epipolar geometry is the theory which describes the relationship of the two imaging plane in cameras for the stereo vision system based on perspective projection model. However, the epipolar in uncorrected fish-eye image will not be a line but an arc which intersects at the poles. It is polar curve. In this paper, the theory of nonlinear epipolar geometry will be explored and the method of nonlinear epipolar rectification will be proposed to eliminate the vertical parallax between two fish-eye images. Maximally Stable Extremal Region (MSER) utilizes grayscale as independent variables, and uses the local extremum of the area variation as the testing results. It is demonstrated in literatures that MSER is only depending on the gray variations of images, and not relating with local structural characteristics and resolution of image. Here, MSER will be combined with the nonlinear epipolar rectification method proposed in this paper. The intersection of the rectified epipolar and the corresponding MSER region is determined as the feature set of spherical stereo vision. Experiments show that this study achieved the expected results.

Citation Download Citation

Junchao Zhu, Li Wan, Juha Röning, and Weijia Feng "Research on the feature set construction method for spherical stereo vision", Proc. SPIE 9406, Intelligent Robots and Computer Vision XXXII: Algorithms and Techniques, 94060G (8 February 2015); https://doi.org/10.1117/12.2083386

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KEYWORDS

Spherical lenses

Cameras

Stereo vision systems

Visual process modeling

Mirrors

Image sensors

3D image reconstruction

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